StevenKeating,NeriOxmann E-mail address: neri@mit.edu (N.Oxman).
Massachusetts InstituteofTechnology,75AmherstSt.,Office E14-333C,Cambridge,MA,USA
指導教授 : 龔應時
研究生 : 曾琮峻
學號 :MA320107

• We propose a novel approach for robotic fabrication and manufacturing entitled Compound Fabrication, supporting multifunctional and multi-material processes.
• This approach combines the major manufacturing technologies including additive, formative and subtractive fabrication, as well as their parallel integration.
• A 6-axis robotic arm, repurposed as an integrated 3D printing, milling and sculpting platform, enables shifting between fabrication modes and across scales using different end effectors.
• Promoting an integrated approach to robotic fabrication, novel combination processes are demonstrated including 3D printing and milling fabrication composites.

• A notable setup relevant to this paper can be reviewed in the
MultiFab project, which uses a robotic arm, combined with a conventional 5-axis milling machine, to create a machining cell capable of laser-based additive manufacturing and milling [13].

• With a minimal physical footprint, the workspace can accommodate parts larger than the arm itself and access interior regions that are not possible for a gantry-based machine.
• Multi-axis 3D printing utilizes four or more axes to print 3D structures with several benefits compared to the XYZ positioning systems of conventional 3D printers.
• Complex 3D structures with sharp overhangs can be printed without support material by rotating the build platform in respect to a stationary extruder.
• This novel process reduces waste by eliminating the deposition of support material, and removes post-processing chemical steps.

• The robotic arm employed in all reported experiments is a KUKA KR5 sixx R850.
• This industrial 6-axis robotic arm is lightweight (29 kg), fast (maximum speed of
7.6 m/s), and has a reach of 850 mm with a repeatability of ± 0.03 mm [15] .
• A KUKA KR C2 sr controller was used for communication with the robotic arm.

• For the 3D printing control files that used a conventional XYZ extruder movement, the open-source ReplicatorG program was used to generate the tool paths from input 3D part files.
• For 3D printing utilizing 5 axes (with a fixed extruder and a moving build platform), the tool paths were written directly in KRL with the use of fixed tool frames to simplify the math.
• For milling control files, HSMWorks was used to generate the KRL tool paths directly from within the CAD program SolidWorks through a custom post-processor script [16] and [17].
• For sculpting, Python scripts were used to output the tool paths and
KRL files directly. All KRL files were tested using KUKA SimPro to ensure no path singularities or work envelopes were exceeded.

• To enable the various functionalities, different end effectors were constructed.
• These effectors connect easily to the wrist faceplate of the robotic arm and can also be used in a fixed tool configuration.
• For the additive fabrication techniques, three special print heads were constructed for three distinctive 3D printing systems covering different scales and materials

• This extruder utilizes a stepper motor to feed an ABS filament through a heated 0.3 mm nozzle.
• The nozzle is heated with a nichrome element and a thermocouple to provide a feedback loop.
• The build platform is an electrically heated aluminum plate maintained at a temperature of 170 ° C in order to reduce thermal warping of the printed structures.

• The extruder uses an auger to feed HDPE particles (shredded from used milk containers) into a heated 5 mm nozzle.
• Similarly to the ABS print head, a nichrome heating element is used with a thermocouple to maintain a desired melt temperature.

• in order to rapidly print larger structures.
• A two-component urethane foam from Dow
Chemical (FROTH-PAK Foam) was selected as the print material due to its quick cure time, high strength and low density [19].
• A print head was constructed using a servo to control flow valves for each pressurized chemical component.
• Standard mix nozzles from Dow Chemical were used to provide uniform mixing and spray patterns.

The 0.3 mm print resolution of the ABS
3D printer is seen at the top in a sample print (a) and the bottom image details iterative improvements in print quality from left to right due to implementing approximate motion control and a heated build platform (b), using a common test print file [20] .

Multi-axis 3D printing of a curved part is seen on the left (a) and a hollow cube with a captive internal part is being printed on the right (b).

Recycled HDPE being extruded during the 3D printing process. The large nozzle diameter resulted in slow cooling times and issues with thermal warping. The heated build platform improved thermal warping issues significantly.

A top view of the robotic urethane 3D printer and a large printed foam structure for use as a curved wall mold.
The urethane 3D printing system can print doubly curved structures as seen on the left (a) and the milling effector can be used to subtractively finish the foam according to a digital design as seen on the right (b).

A Plasticine mold is sculpted by the robotic arm according to a design on the left (a) and a cast urethane part from the finished mold is seen on the right (b).

A milled urethane foam sign, along with some of the tool paths used to mill the sign. The tool paths were illuminated using a light mounted to the milling effector and a longexposure photograph.

A compound fabrication end effector consisting of a 3D printing spray nozzle and a milling effector.
A 3D printed urethane foam wall mold with embedded plastic tie structures that has been milled and finished on the exterior with plaster and paint.
This wall mold utilizes tie structures to support rebar during a concrete pour and the foam mold serves dual purpose as thermal insulation for the final wall. The wall structure is four feet tall and an American 25 cent coin is shown as a relative scale.

By configuring external effectors and moving the work piece, a single fixturing and calibration can serve many processes. The top image shows an ABS part being 3D printed and subsequently undergoing surface milling in the bottom image to achieve a better finish.

• When contemplating the future of composite fabrication, the authors envision mobile systems with robotic arms capable of
‘swarm construction’ techniques.
• Akin to termites building structures much larger than themselves, swarm construction robots could elevate digital fabrication to possibilities of on-site fabrication/repair and building-scale printed structures.
• Such capabilities would eliminate the dangers of human construction, reduce costs due to labor, and facilitate unique design options. Robotic arms are well suited to mobile fabrication due to their wide reach, robustness, and flexible reconfigurations.

A computer rendering of a proposed swarm fabrication system. Small robotic agents equipped with robotic arms for on-site fabrication.

As demonstrated in this paper, a single robotic arm system can serve as an additive, subtractive, and formative fabricator. By serving as a multi-functional fabrication platform, the robotic system can handle large and complex quantities of data and with a high degree of efficiency.
By supporting the combination of several classes of fabrication processes (such as additive and subtractive) that are otherwise discrete and singular, the platform is able to act as a truly integrated design platform.

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